CN106249748A

CN106249748A - A kind of equipment configuration control method and controlled motion equipment

Info

Publication number: CN106249748A
Application number: CN201610757819.1A
Authority: CN
Inventors: 许奔
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2016-08-29
Filing date: 2016-08-29
Publication date: 2016-12-21
Anticipated expiration: 2036-08-29
Also published as: CN106249748B

Abstract

The application provides a kind of equipment configuration control method and controlled motion equipment, and described method includes the movable information obtaining described controlled motion equipment, it is judged that whether described movable information meets predetermined equipment experiment material condition；And when meeting, described controlled motion equipment is carried out experiment material, and controls described controlled motion equipment maintenance proper motion.Visible, the application scheme achieves and controlled motion equipment is carried out experiment material, application the application scheme can promote the high intelligent control degree of this kind equipment further by the equipment such as unmanned plane are carried out experiment material so that it is can better adapt to such as the change of the movement environments such as flight environment of vehicle.

Description

A kind of equipment configuration control method and controlled motion equipment

Technical field

The invention belongs to the intellectuality of equipment, technical field of automatic control, particularly relate to a kind of apparatus control method and Controlled motion equipment.

Background technology

Wing is unmanned plane, have one of vitals of flight equipment such as man-machine, is arranged on fuselage.Its topmost work With being generation lift, to support that flight equipment aloft flies；It also plays certain stable and manipulation effect, to maintain flight flat Weighing apparatus.The flat shape of wing is varied, and conventional has RECTANGULAR WINGS, tapered airfoil, swept-back wing, dalta wing, double delta wing, flechette-type The wing, strake wing etc..

At present, the greatest drawback of the flight equipments such as unmanned plane is to cannot be carried out experiment material in flight course, with wing As a example by, wing is typically fixedly mounted on the fuselage of flight equipment, and in flight course, the flight equipment of present stage technology cannot Shrink wing.Thus, when running into flight environment of vehicle and changing suddenly, as owing to occurring that suddenly bridge opening, tunnel, the woods etc. cause Make front flight space diminish suddenly, narrow or fuselage side produce obstacle time, often due to wing cannot shrink and cause hitting Machine falls.Based on this, the equipment such as unmanned plane are carried out morphology Control, promote the high intelligent control degree of this kind equipment so that it is energy The change enough better adapting to flight environment of vehicle becomes the problem that this area needs solution badly.

Summary of the invention

In view of this, it is an object of the invention to provide a kind of equipment configuration control method and controlled motion equipment, it is intended to The high intelligent control degree of the equipment such as unmanned plane is promoted so that it is the change of flight environment of vehicle can be better adapted to by morphology Control Change.

To this end, the present invention is disclosed directly below technical scheme:

A kind of equipment configuration control method, is applied to controlled motion equipment, and described method includes:

Obtain the movable information of described controlled motion equipment；

Judge whether described movable information meets predetermined equipment experiment material condition, obtain a judged result；

If described judged result represents meet, then described controlled motion equipment is carried out experiment material, and controls described Controlled motion equipment maintains proper motion.

Said method, it is preferred that the movable information of described acquisition described controlled motion equipment includes:

Obtain described controlled motion equipment movement environment information to be faced and/or body dynamics information；

Wherein, described movement environment information includes space information and/or the barrier that described controlled motion equipment is to be faced Thing information, described body dynamics information is hindered to include moving height information, velocity information and/or the inclination of described controlled motion equipment Degree information.

Said method, it is preferred that described described controlled motion equipment is carried out experiment material include:

Determine based on described movable information and described controlled motion equipment needs to carry out the target component of experiment material；

Described target component is carried out experiment material.

Based on described movable information, determine in the retractable member of described controlled motion equipment and need to carry out the one of experiment material Individual or multiple first object retractable member, and the adjustment type of each first object retractable member；Wherein, described controlled fortune Dynamic equipment includes the retractable member of the first predetermined number, and described retractable member is for providing dynamic for described controlled motion equipment Power and maintain described controlled motion balance of plant；

Based on adjusting type accordingly, each described first object retractable member is carried out experiment material.

Said method, it is preferred that described based on adjusting type accordingly, carries out form to each first object retractable member Adjustment includes:

When the adjustment type of described first object retractable member is the first kind, control described first object collapsible Parts shrink；

When the adjustment type of described first object retractable member is Second Type, control described first object collapsible Parts move along the equipment body of described controlled motion equipment；

When the adjustment type of described first object retractable member is three type, control described first object collapsible Installed surface corresponding when parts are to be installed on described controlled motion equipment is for rotating a reference plane phase clockwise or counterclockwise Answer angle.

Said method, it is preferred that described control described controlled motion equipment maintains proper motion to include:

After judging described controlled motion equipment is carried out described experiment material, whether described controlled motion equipment is able to maintain that Proper motion, obtains a judged result；

Can not maintain if described judged result represents, the most described controlled motion equipment be carried out experiment material, with Maintain described controlled motion equipment proper motion.

Proper motion can not be maintained, it is determined that described first if carried out controlled motion equipment described after described experiment material The retractable member of predetermined number whether full retraction；

If full retraction, then the motion adjustment parts of described controlled motion equipment are carried out experiment material, to maintain State controlled motion equipment proper motion；Wherein, described controlled motion equipment includes that the motion of the second predetermined number adjusts parts, institute State motion and adjust parts for providing power for described controlled motion equipment and maintaining described controlled motion balance of plant；

If non-full retraction, then the adjustable parts not shunk and/or described motion are adjusted parts and carry out form tune Whole, to maintain described controlled motion equipment proper motion.

Said method, it is preferred that the described motion adjustment parts to described controlled motion equipment carry out experiment material and include:

Determine that the one or more target travels that need to carry out experiment material adjust parts, and each target travel adjusts parts Adjustment type；

Based on adjusting type accordingly, each target travel is adjusted parts and carries out experiment material.

Said method, it is preferred that described adjustable parts to not shrinking and/or described motion adjust parts and carry out form Adjustment includes:

Determine the one or more second target retractable member needing to carry out experiment material in the adjustable parts not shunk, And the adjustment type of each second target retractable member；And/or, determine the one or more targets fortune that need to carry out experiment material The dynamic parts that adjust, and the adjustment type of each target travel adjustment parts；

Based on adjusting type accordingly, described second target retractable member and/or described target travel are adjusted parts and enters Row experiment material.

Said method, it is preferred that described based on adjusting type accordingly, adjusts parts to target travel and carries out experiment material bag Include:

When the adjustment type that described target travel adjusts parts is four type, adjusts described target travel and adjust parts Rotating speed；

When the adjustment type that described target travel adjusts parts is five type, controls described target travel and adjust parts Installed surface corresponding during to be installed on described controlled motion equipment is for reference to rotating a respective angles so that described target travel is adjusted Angle between plane that the article body of integeral part is constituted and described installed surface changes.

A kind of controlled motion equipment, including:

Harvester, for obtaining the movable information of described controlled motion equipment；

Processing means, for judging whether described movable information meets predetermined equipment experiment material condition, obtains sentencing Disconnected result；

Adjusting apparatus, for when described judged result represents and meets, carries out experiment material to described controlled motion equipment；

Control device, be used for controlling described controlled motion equipment and maintain proper motion.

Above-mentioned controlled motion equipment, it is preferred that described harvester treats face specifically for obtaining described controlled motion equipment The movement environment information faced and/or body dynamics information；

Above-mentioned controlled motion equipment, it is preferred that described adjusting apparatus specifically for: determine described based on described movable information Controlled motion equipment needs to carry out the target component of experiment material；Described target component is carried out experiment material.

Above-mentioned controlled motion equipment, it is preferred that also include being connected to the first of the equipment body of described controlled motion equipment The retractable member of predetermined number, for providing power for described controlled motion equipment and maintaining described controlled motion equipment to put down Weighing apparatus；

The most described adjusting apparatus specifically for: based on described movable information, determine the collapsible of described first predetermined number Parts need to carry out one or more first object retractable member of experiment material, and each first object retractable member Adjust type；Based on adjusting type accordingly, each described first object retractable member is carried out experiment material.

Above-mentioned controlled motion equipment, it is preferred that described adjusting module is based on adjusting type accordingly to each described first mesh Mark retractable member carries out experiment material, specifically includes:

When the adjustment type of described first object retractable member is the first kind, control described first object collapsible Parts shrink；When the adjustment type of described first object retractable member is Second Type, control described first object Retractable member moves along the equipment body of described controlled motion equipment；Adjustment type when described first object retractable member When being three types, installed surface corresponding when controlling described first object retractable member to be installed on described controlled motion equipment For rotating a reference plane respective angles clockwise or counterclockwise.

Above-mentioned controlled motion equipment, it is preferred that described control device specifically for: judge described controlled motion equipment is entered After the described experiment material of row, whether described controlled motion equipment is able to maintain that proper motion, obtains a judged result；Sentence described Disconnected result represents when can not maintain, then control described adjusting apparatus and again described controlled motion equipment is carried out experiment material, with Maintain described controlled motion equipment proper motion.

Above-mentioned controlled motion equipment, it is preferred that also include that the motion of the second predetermined number adjusts parts, the most each motion Adjust parts be connected to the equipment body of described controlled motion equipment or be connected to corresponding retractable member, for being subject to for described Control sports equipment provides power and maintains described controlled motion balance of plant；

The most described control device specifically for: after carrying out described experiment material, described controlled motion equipment just can not maintain When often moving, determine the retractable member whether full retraction of described predetermined number；If full retraction, then control described adjustment Device adjusts parts to the motion of described controlled motion equipment and carries out experiment material, to maintain described controlled motion equipment normally to transport Dynamic；If non-full retraction, then control the described adjusting apparatus adjustable parts to not shrinking and/or described motion adjusts parts Carry out experiment material, to maintain described controlled motion equipment proper motion.

Above-mentioned controlled motion equipment, it is preferred that described adjusting apparatus adjusts parts to the motion of described controlled motion equipment Carry out experiment material to specifically include: determine from the motion adjustment parts of described second predetermined number and need to carry out the one of experiment material Individual or multiple target travels adjust parts, and each target travel adjusts the adjustment type of parts；Based on adjusting type accordingly, right Each target travel adjusts parts and carries out experiment material.

Above-mentioned controlled motion equipment, it is preferred that the described adjusting apparatus adjustable parts to not shrinking and/or described motion Adjustment parts carry out experiment material and specifically include:

Determine the one or more second target retractable member needing to carry out experiment material in the adjustable parts not shunk, And the adjustment type of each second target retractable member；And/or, determine the one or more targets fortune that need to carry out experiment material The dynamic parts that adjust, and the adjustment type of each target travel adjustment parts；Based on adjusting type accordingly, can to described second target Collapsible part and/or described target travel adjust parts and carry out experiment material.

Above-mentioned controlled motion equipment, it is preferred that described adjusting apparatus is based on adjusting type accordingly, to target travel adjustment portion Part carries out experiment material and specifically includes:

When the adjustment type that described target travel adjusts parts is four type, adjusts described target travel and adjust parts Rotating speed；When the adjustment type that described target travel adjusts parts is five type, controls described target travel and adjust parts Installed surface corresponding during to be installed on described controlled motion equipment is for reference to rotating a respective angles so that described target travel is adjusted Angle between plane that the article body of integeral part is constituted and described installed surface changes.

From above scheme, the application provides a kind of equipment configuration control method and controlled motion equipment, described method Including the movable information obtaining described controlled motion equipment, it is judged that whether described movable information meets predetermined equipment experiment material Condition；And when meeting, described controlled motion equipment is carried out experiment material, and it is normal to control the maintenance of described controlled motion equipment Motion.Visible, the application scheme achieves and controlled motion equipment carries out experiment material, and application the application scheme can be by nothing Man-machine equipment such as grade carries out experiment material and promotes the high intelligent control degree of this kind equipment further so that it is can better adapt to Change such as movement environments such as flight environment of vehicle.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to The accompanying drawing provided obtains other accompanying drawing.

Fig. 1 is the flow chart of a kind of equipment configuration control method embodiment one that the application provides；

Fig. 2 is the flow chart of a kind of equipment configuration control method embodiment two that the application provides；

Fig. 3 is the flow chart of a kind of equipment configuration control method embodiment three that the application provides；

Fig. 4 is the flow chart of a kind of equipment configuration control method embodiment four that the application provides；

Fig. 5 is the structural representation of a kind of controlled motion apparatus embodiments five that the application provides；

Fig. 6 is the structural representation of a kind of controlled motion apparatus embodiments six that the application provides；

Fig. 7 is the structural representation of a kind of controlled motion apparatus embodiments eight that the application provides.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

Embodiment one

It is the flow chart of a kind of equipment configuration control method embodiment one that the application provides with reference to Fig. 1, Fig. 1, the method Can be applicable to unmanned plane, have the controlled motion equipment such as man-machine, specifically for controlled motion equipment is carried out experiment material, so that its The change of movement environment (such as flight environment of vehicle) can be better adapted to, as it is shown in figure 1, described method can be wrapped in motor process Include following steps:

S101: obtain the movable information of described controlled motion equipment.

Described movable information includes movement environment information and/or the body dynamics information of controlled motion equipment, i.e. described in be subject to The movable information of control sports equipment can only include the movement environment information that controlled motion equipment is to be faced in motor process, as Space information that controlled motion equipment is to be faced and/or obstacle information etc.；Or can also only include that controlled motion sets Standby body dynamics information corresponding in motor process, such as moving height information, the velocity information of controlled motion equipment and/or incline Tiltedly degree information etc., or movement environment and two kinds of information of motion feature can also be included simultaneously.

The movable informations such as the movement environment information of controlled motion equipment and/or body dynamics information specifically can be by adopting accordingly Collection/detection device is obtained by certain collection/detection means, and by unmanned plane or as a example by having the flight equipment such as man-machine, it flies Environmental information specifically may utilize corresponding supersonic sensing device and obtains based on ultrasonic acquisition technology, and flying height, flight The flight characteristic information such as speed, gradient then can use present stage unmanned plane or have the relevant inspection of relative maturity of man-machine offer Survey technology detection obtains, and the most no longer describes in detail.

S102: judge whether described movable information meets predetermined equipment experiment material condition, obtains a judged result.

Include that with described movable information movement environment information and/or the body dynamics information of controlled motion equipment are corresponding, Described equipment experiment material condition correspondingly can include for sentencing the movement environment information of described controlled motion equipment The first disconnected regularization condition, and/or for the second adjustment that the body dynamics information of described controlled motion equipment is judged Condition, to know whether described controlled motion equipment needs to carry out experiment material.

When described equipment experiment material condition includes described first regularization condition and described second regularization condition, as long as being subject to The movable information of control sports equipment meets one of arbitrarily can be judged as symbol in described first regularization condition, the second regularization condition Close described equipment experiment material condition.

Wherein, described first regularization condition specifically can exist in conjunction with the equipment size of controlled motion equipment, each associated components Relative position on equipment and parts size etc. are formulated, still as a example by the flight equipments such as unmanned plane, and specifically can be based on unmanned The equipment size of machine determines its currently required on the premise of not carrying out experiment material space minimum limit value, thus is adopting The flight environment of vehicle information representation unmanned plane of collection, when the flight space size faced is less than this limit value, need to carry out shape to unmanned plane State adjusts；Can based on unmanned plane associated components such as wing etc. in the installation site of unmanned plane and wing size, predetermined can be right Unmanned plane constitute a threat to (unmanned plane need to be carried out experiment material) barrier condition (as barrier relative to equipment position believe Breath, size etc.), thus when the obstacle information of actual detection meets the barrier condition pre-established, represent detection Barrier the associated components such as the wing of unmanned plane can be constituted a threat to, as collided between barrier and wing, producing friction Deng, thus unmanned plane need to be carried out experiment material.

The characteristic of experiment material can be carried out owing to controlled motion equipment described herein has, thus described equipment chi The information such as code, each associated components relative position on equipment and parts size are probably dynamically change, based on this, described First regularization condition such as unmanned plane does not the most carry out the space minimum limit value needed for experiment material, and/or described barrier Conditions etc. dynamically can be formulated based on practical situation.

Described second regularization condition specifically can be formulated based on the motion requirement of controlled motion equipment, as combined reality fortune Emotionally condition determines the target fortune such as object height, target velocity and/or target tilt degree that controlled motion equipment present stage need to reach Dynamic characteristic information (the i.e. second regularization condition).

The body dynamics information such as the equipment such as unmanned plane height in flight course, speed, gradient and its power situation And balance is inseparable, and the power situation of flight equipment and balance are closely bound up with its equipment form, such as, The wing of flight equipment typically has and produces lift upwards and maintain the effect of assembled machine balance, propeller typically have generation to Front pull strength and the effect of maintenance assembled machine balance, the change of wing or propeller form frequently can lead to flight equipment power feelings Changing of condition and balance.Based on this, the application by controlled motion equipment such as flight equipments at its actual motion feature The motion requirement during Target Motion Character not up to formulated, is converted to the power demand to controlled motion equipment accordingly, puts down Weighing apparatus demand, and then be converted to the experiment material demand to controlled motion equipment so that carry out subsequently through to controlled motion equipment Experiment material, meets its power demand and requirement of balance, and then makes its motion feature reach required object height, speed, incline Gradient etc..

S103: meet if described judged result represents, then carry out experiment material to described controlled motion equipment, and control Described controlled motion equipment maintains proper motion.

If the movable information of controlled motion equipment meets predetermined equipment experiment material condition, then to described controlled motion Equipment carries out experiment material, the sports ring such as the space that specifically currently will be able to face according to controlled motion equipment, barrier Environment information adjusts the form of controlled motion equipment, and/or according to controlled motion equipment actual motion feature and Target Motion Character Between contrast situation determine power demand and/or the requirement of balance of controlled motion equipment, and then according to described power demand and/or Requirement of balance carries out experiment material etc. to controlled motion equipment so that the controlled motion equipment after experiment material can adapt to will The movement environment/that faces and/or disclosure satisfy that the power demand of controlled motion equipment present stage, requirement of balance.

In a kind of possible implementation, can determine that described controlled motion sets by movable information based on controlled motion equipment Standby middle need carry out the target component of experiment material, on this basis, described target component are carried out experiment material, realize being subject to this The experiment material of control sports equipment.

While controlled motion equipment is carried out experiment material, need to guarantee that controlled motion equipment is able to maintain that normal fortune Dynamic, exemplarily, as a example by unmanned plane, cause front to be produced barrier occurring because of front or bridge opening, tunnel, the woods etc. occur When raw flight obstacle or front flight space narrow suddenly, unmanned plane is carried out experiment material so that it is can avoiding barrier or Adapt to the space narrowed suddenly, simultaneously, it should be ensured that its most basic speed requirement, balance demand etc. so that it is be just able to maintain that , without there is unbalance, the even accident such as air crash because of experiment material in normal motion.

From above scheme, the application provides a kind of equipment configuration control method, and described method includes being subject to described in acquisition The movable information of control sports equipment, it is judged that whether described movable information meets predetermined equipment experiment material condition；And meeting Time, described controlled motion equipment is carried out experiment material, and controls described controlled motion equipment maintenance proper motion.Visible, this Application scheme achieves and controlled motion equipment carries out experiment material, and application the application scheme can be by entering equipment such as unmanned planes Row experiment material promotes the high intelligent control degree of this kind equipment further so that it is can better adapt to such as flight environment of vehicle etc. The change of movement environment.

Embodiment two

The present embodiment provides in described step S103 and described controlled motion equipment is carried out a kind of possible of experiment material Implementation, with reference to the equipment configuration control method flow chart shown in Fig. 2, in the present embodiment, described step S103 specifically can be led to Cross procedure below and realize described controlled motion equipment carried out experiment material:

S201: based on described movable information, determines and needs to carry out of experiment material or many in described controlled motion equipment Individual first object retractable member, and the adjustment type of each first object retractable member；Wherein, described controlled motion equipment Including the retractable member of the first predetermined number, described retractable member is for providing power and dimension for described controlled motion equipment Hold described controlled motion balance of plant；

S202: based on adjusting type accordingly, carries out experiment material to each described first object retractable member.

The implementation that the present embodiment provides need to be set up, in advance, the controlled motion equipment such as unmanned plane be carried out structure improvement On the basis of (can be with existing unmanned plane as reference).Specifically.In the present embodiment, described controlled motion equipment includes first The retractable member of predetermined number, described retractable member is connected on the equipment body of described controlled motion equipment, be used for be Described controlled motion equipment provides power and maintains described controlled motion balance of plant.

Exemplarily, in the flight equipments such as unmanned plane, the retractable member of described first predetermined number can be specifically The multiple wings being arranged on unmanned aerial vehicle body, such as, are arranged on two main wings of the unmanned aerial vehicle body left and right sides, two ailerons And it is arranged on the empennage etc. on the upside of afterbody.With the wing of the equipment such as unmanned plane in prior art with the fixing peace of solid form The relevant position being loaded on fuselage has essence difference, and in the application, the retractable member of described first predetermined number has form Adjustable characteristic, specifically, described retractable member is the most collapsible, can move (such as machine along equipment body The wing can move along fuselage between frame head and tail) and/or can be installed on described controlled motion equipment time corresponding installed surface For rotating reference plane clockwise or counterclockwise etc..

Based on this, when controlled motion equipment being carried out experiment material, can be according to the current motion of controlled motion equipment Information (movement environment information and/or body dynamics information etc.) is determined from the retractable member of described first predetermined number to be needed Carry out one or more first object retractable member of experiment material, and the adjustment class of each first object retractable member Type.On this basis, when the adjustment type of first object retractable member is the first kind, controlling described first object can receive Contracting parts shrink；When the adjustment type of first object retractable member is Second Type, controlling described first object can Collapsible part moves along the equipment body of described controlled motion equipment；When the adjustment type of first object retractable member is the 3rd During type, installed surface corresponding when controlling described first object retractable member to be installed on described controlled motion equipment is for rotating A reference plane respective angles clockwise or counterclockwise.

For convenience of retractable member is moved, the experiment material such as rotation, when implementing the application, chain can be used to connect Each retractable member is connected on the equipment body of controlled motion equipment by mode.

In real world applications scene, it is not limited to, at synchronization, same retractable member only carries out a type of form Adjust, but at synchronization, same retractable member can be carried out one or more classes based on actual experiment material demand The experiment material of type, moves to head as also controlled this wing while a certain wing of unmanned plane is carried out retraction adjustment Deng, understandable, in real world applications scene, it is possible that a retractable member of controlled motion equipment is entered simultaneously The experiment material of one or more types of row, or multiple retractable member of controlled motion equipment are carried out one or more simultaneously The situation of the experiment material of type type, identical or different so that its meet as far as possible equipment form that environmental change brings, Equipment size demand and/or meet in motor process required power demand, requirement of balance.It is subject to the unmanned plane etc. of prior art Control sports equipment is compared, and form is flexible and changeable, environmental suitability is strong to apply the controlled motion equipment of the application scheme substantially to have Advantage.

It should be noted that with the wing under present stage technology mainly provide lift (two sides up and down of wing-body because of Moulding difference causes stream pressure different, can produce lift upwards when rapid movement) and the effect of maintenance fuselage balance Difference, in the application, described retractable member due to can be installed on described controlled motion equipment time corresponding installed surface be Rotating reference plane to carry out clockwise or counterclockwise, i.e. when being applied in unmanned plane example, the wing of unmanned plane can be with Its installed surface corresponding on fuselage is for rotating reference plane clockwise or counterclockwise, so that wing-body place plane Spatially it is not limited to based on horizontal plane, but can be based on actual demand so that wing presents in equipment flight course It it is the form of any angle between its subject plane and horizontal plane.And then, retractable member described herein can be embodied as controlled Sports equipment provides the power in the multiple directions such as lift upwards, pull strength forward, simultaneously can be by its different shape for being subject to Control sports equipment provides the effect maintaining balance in various degree.Therefore, during controlled motion equipment moving, its lift side Multiple demand in terms of face, pull strength aspect and balance all can to the greatest extent may be used by the retractable member adjusting controlled motion equipment Can meet.

Embodiment three

The present embodiment provides the one controlling described controlled motion equipment maintenance proper motion in described step S103 possible Implementation, with reference to the equipment configuration control method flow chart shown in Fig. 3, in the present embodiment, described step S103 specifically may be used By procedure below realization control described controlled motion equipment maintenance proper motion:

S301: after judging described controlled motion equipment is carried out described experiment material, whether described controlled motion equipment can Enough maintain proper motion, obtain a judged result；

S302: can not maintain if described judged result represents, carries out form tune to described controlled motion equipment the most again Whole, to maintain described controlled motion equipment proper motion.

Specifically, based on environmental factors and/or motion feature factor, controlled motion equipment is being carried out the same of experiment material Time, need to judge that can described controlled motion equipment maintain under new form and normally transport merit, as in unmanned plane example, it is judged that nothing Man-machine under new form its power whether enough, whether its current gradient (makes fuselage unbalance beyond gradient limit value Minimum limit value) etc., judge that can it maintain proper motion with this.

If able to maintenance proper motion, the most no longer controlled motion equipment is controlled, whereas if carry out form tune After whole, controlled motion equipment can not maintain proper motion under new form, then need to continue controlled motion equipment is carried out form Control, so that its current form is optimized adjustment so that it is while meeting environmental demand and/or motion feature demand, also It is able to maintain that the proper motion of self, and will not unbalance even air crash.

Embodiment four

With reference to the equipment configuration control method flow chart shown in Fig. 4, the present embodiment provides the feelings that can not maintain proper motion Under condition, form to controlled motion equipment proceeds a kind of possible implementation optimized and revised, and specifically includes:

S401: proper motion can not be maintained if carried out controlled motion equipment described after described experiment material, it is determined that institute State the retractable member whether full retraction of the first predetermined number；

S402: if full retraction, then the motion adjustment parts of described controlled motion equipment are carried out experiment material, with dimension Hold described controlled motion equipment proper motion；Wherein, described controlled motion equipment includes the motion adjustment portion of the second predetermined number Part, described motion adjusts parts for providing power for described controlled motion equipment and maintaining described controlled motion balance of plant；

S403: if non-full retraction, then the adjustable parts not shunk and/or described motion are adjusted parts and carry out shape State adjusts, to maintain described controlled motion equipment proper motion.

What the present embodiment provided optimizes and revises implementation based on the scheme of embodiment two, and providing in embodiment two can On the basis of collapsible part, in the present embodiment, described controlled motion equipment also includes that the motion of the second predetermined number adjusts parts, For providing power for described controlled motion equipment and maintaining described controlled motion balance of plant, wherein, each described motion is adjusted Integeral part is connected on the equipment body of described controlled motion equipment or is connected in corresponding retractable member.

Exemplarily, in the flight equipments such as unmanned plane, it is the most permissible that the motion of described second predetermined number adjusts parts It is mounted on unmanned aerial vehicle body or each propeller on corresponding wing, as being installed on the propeller of head, tail, or installs Propeller etc. on main wing, aileron.Parallel with propeller subject plane with the propeller of the equipment such as unmanned plane in prior art The relevant position (head, tail, wing) that propeller is installed on unmanned plane in the mode of installed surface is different, in the application, and institute Stating motion adjust parts can with its be installed on described controlled motion equipment time corresponding installed surface for reference to rotating so that The angle that described motion adjusts between the plane that constituted of article body of parts and described installed surface changes.

Based on this, mainly provide pull strength forward and maintenance machine with the propeller of the equipment such as unmanned plane in prior art The effect of body balance is different, in the application, and the plane constituted due to the article body of described motion adjustment parts and described peace Angle between dress face can be changed according to demand, is not limited to the constituted plane of propeller main body and installed surface in prior art Opposing parallel mode, thus, in the application, described motion adjusts parts can be embodied as controlled motion equipment offer liter upwards The power in the multiple directions such as power, pull strength forward, can be that controlled motion equipment provides different journey by its different shape simultaneously The effect maintaining balance of degree, thus in the application, described retractable member, motion adjusts parts all can be based on its corresponding form For effects such as the lift needed for the offer of controlled motion equipment, pull strength, maintenance balances.

Therefore, after controlled motion equipment being carried out experiment material based on environmental factors or motion feature factor, if be subject to Control sports equipment can not continue to proper motion, then can take continuation into consideration to remaining unadjusted retractable member and fortune The dynamic parts that adjust are adjusted so that controlled motion equipment is able to maintain that proper motion.

Specifically, if controlled motion equipment can not continue to proper motion, first determine described first predetermined The retractable member of number whether full retraction；If full retraction, then adjust parts from the motion of described second predetermined number Determine that the one or more target travels that need to carry out experiment material adjust parts, and each target travel adjusts the adjustment class of parts Type；And based on adjusting type accordingly, each target travel is adjusted parts and carries out experiment material.Wherein, when described target travel When the adjustment type of adjustment parts is four type, adjusts described target travel and adjust the rotating speed of parts, to realize controlled fortune The power of dynamic equipment is adjusted, and supplements power etc. as improved rotating speed；When described target travel adjusts the adjustment type of parts it is During five types, control installed surface corresponding when described target travel adjusts parts to be installed on described controlled motion equipment for joining According to rotating a respective angles so that described target travel adjusts between the plane that constituted of article body of parts and described installed surface Angle change, to realize by the rotation of propeller, maintain the balance of controlled motion equipment, eventually through continuing to adjust Motion adjusts parts and makes to be optimized the experiment material of controlled motion equipment, so that controlled motion equipment is able to maintain that Proper motion.

If the non-full retraction of retractable member in described first predetermined number, then can determine that do not shrink adjustable whole Part needs to carry out one or more second target retractable member of experiment material, and the tune of each second target retractable member Whole type；And/or, determine that the one or more target travels that need to carry out experiment material adjust parts, and each target travel is adjusted The adjustment type of integeral part；And based on adjusting type accordingly, to described second target retractable member and/or described target travel Adjust parts and carry out experiment material.As specifically the second target retractable member determined shunk, move and/or rotate Deng experiment material, the target travel determined is adjusted parts and carries out the experiment material such as adjustment of rotational speed and/or rotation.

One or more retractable member are being carried out initially by the present embodiment to based on environmental factors or motion feature factor On the basis of experiment material, continue that unadjusted retractable member and/or motion are adjusted parts and carry out experiment material, it is achieved that The initial form that adjusts of controlled operation equipment is optimized adjustment, can effectively guarantee that controlled motion equipment is based on environmental factors And/or motion feature factor carry out experiment material to meet environmental demand and/or motion feature demand on the basis of, also can simultaneously Maintain the proper motion of controlled motion equipment, effectively prevent the generation of the accidents such as air crash.

Embodiment five

Being the structural representation of a kind of controlled motion apparatus embodiments five that the application provides with reference to Fig. 5, Fig. 5, this is controlled Sports equipment can be specifically unmanned plane, have the equipment such as man-machine, as it is shown in figure 5, described controlled motion equipment can include gathering Device 100, processing means 200, adjusting apparatus 300 and control device 400.

Harvester 100, for obtaining the movable information of described controlled motion equipment.

Processing means 200, for judging whether described movable information meets predetermined equipment experiment material condition, obtains one Judged result.

Adjusting apparatus 300, for when described judged result represents and meets, carries out form tune to described controlled motion equipment Whole.

Control device 400, be used for controlling described controlled motion equipment and maintain proper motion.

While controlled motion equipment is carried out experiment material, need to guarantee that controlled motion equipment is able to maintain that normal fortune Dynamic, exemplarily, as a example by unmanned plane, cause front to be produced barrier occurring because of front or bridge opening, tunnel, the woods etc. occur When raw flight obstacle or front flight space narrow suddenly, unmanned plane is carried out experiment material so that it is can avoiding barrier or Adapt to the space narrowed suddenly, simultaneously, it should be ensured that its most basic speed requirement, balance demand etc. so that it is be just able to maintain that , without there is unbalance, even air crash etc. because of experiment material in normal motion.

From above scheme, the application provides a kind of controlled motion equipment, and described equipment includes harvester, processes dress Put, adjusting apparatus and control device, described harvester is for obtaining the movable information of described controlled motion equipment, described process Device is for judging whether described movable information meets predetermined equipment experiment material condition；Described adjusting apparatus is for meeting Time, described controlled motion equipment is carried out experiment material, described control device is used for controlling described controlled motion equipment and is just maintaining Often motion.Visible, the application scheme achieves and controlled motion equipment carries out experiment material, and application the application scheme can be by right The equipment such as unmanned plane carry out experiment material and promote the high intelligent control degree of this kind equipment further so that it is can be the suitableeest Should be such as the change of the movement environments such as flight environment of vehicle.

Embodiment six

The present embodiment provides described adjusting apparatus 300 that described controlled motion equipment is carried out a kind of possible of experiment material Implementation, in the present embodiment, described adjusting apparatus 300 specifically can realize entering described controlled motion equipment by procedure below Row experiment material:

Based on described movable information, determine and described controlled motion equipment needs to carry out one or more the first of experiment material Target retractable member, and the adjustment type of each first object retractable member；Wherein, described controlled motion equipment includes The retractable member of one predetermined number, described retractable member is for providing power for described controlled motion equipment and remaining described Controlled motion balance of plant；Based on adjusting type accordingly, each described first object retractable member is carried out experiment material.

The implementation that the present embodiment provides need to be set up, in advance, the controlled motion equipment such as unmanned plane be carried out structure improvement On the basis of (can be with existing unmanned plane as reference).Specifically.In the present embodiment, set with reference to the controlled motion shown in Fig. 6 Standby structural representation, described controlled motion equipment also includes the retractable member 500 of the first predetermined number, described collapsible portion Part 500 is connected on the equipment body of described controlled motion equipment, for providing power and maintenance for described controlled motion equipment Described controlled motion balance of plant.

Exemplarily, in the flight equipments such as unmanned plane, the retractable member 500 of described first predetermined number is the most permissible The multiple wings being mounted on unmanned aerial vehicle body, such as, are arranged on two main wings of the unmanned aerial vehicle body left and right sides, two pairs The wing and be arranged on the empennage etc. on the upside of afterbody.Fix with solid form with the wing of the equipment such as unmanned plane in prior art The relevant position being installed on fuselage has essence difference, and in the application, the retractable member 500 of described first predetermined number has The adjustable characteristic of form, specifically, described retractable member 500 is the most collapsible, can move along equipment body Dynamic (wing can be moving along fuselage between frame head and tail) and/or can with as described in being installed on during controlled motion equipment corresponding Installed surface is for rotating reference plane clockwise or counterclockwise etc..

Based on this, when controlled motion equipment being carried out experiment material, can be according to the current motion of controlled motion equipment Information (movement environment information and/or body dynamics information etc.) determines from the retractable member 500 of described first predetermined number Go out to carry out one or more first object retractable member of experiment material, and the adjustment of each first object retractable member Type.On this basis, when the adjustment type of first object retractable member is the first kind, controlling described first object can Collapsible part is shunk；When the adjustment type of first object retractable member is Second Type, control described first object Retractable member moves along the equipment body of described controlled motion equipment；When the adjustment type of first object retractable member is During three types, installed surface corresponding when controlling described first object retractable member to be installed on described controlled motion equipment is for revolving Turn a reference plane respective angles clockwise or counterclockwise.

In real world applications scene, it is not limited to, at synchronization, same retractable member only carries out a type of form Adjust, but at synchronization, same retractable member can be carried out one or more classes based on actual experiment material demand The experiment material of type, moves to head as also controlled this wing while a certain wing of unmanned plane is carried out retraction adjustment Deng, understandable, in real world applications scene, it is possible that a retractable member of controlled motion equipment is entered simultaneously The experiment material of one or more types of row, or multiple retractable member of controlled motion equipment are carried out one or more simultaneously The situation of the experiment material of type type, identical or different so that its meet as far as possible equipment form that environmental change brings, Equipment size demand and/or meet in motor process required power demand, requirement of balance, is subject to the unmanned plane etc. of prior art Control sports equipment is compared, and form is flexible and changeable, environmental suitability is strong to apply the controlled motion equipment of the application scheme substantially to have Advantage.

Embodiment seven

The one that the present embodiment provides described control device 400 to control described controlled motion equipment maintenance proper motion may Implementation, specifically, in the present embodiment, described control device 400 can by procedure below realize control described controlled fortune Dynamic equipment maintenance proper motion:

After judging described controlled motion equipment is carried out described experiment material, whether described controlled motion equipment is able to maintain that Proper motion, obtains a judged result；Can not maintain if described judged result represents, then control described adjusting apparatus 300 again Secondary described controlled motion equipment is carried out experiment material, to maintain described controlled motion equipment proper motion.

If able to maintenance proper motion, the most no longer controlled motion equipment is controlled, whereas if carry out form tune After whole, controlled motion equipment can not maintain proper motion under new form, then need to control described adjusting apparatus 300 and continue being subject to Control sports equipment carries out morphology Control, so that its current form is optimized adjustment so that it is meeting environmental demand and/or motion While feature requirement, additionally it is possible to maintain the proper motion of self, and will not unbalance even air crash.

Embodiment eight

The present embodiment provides control device 400 in the case of can not maintaining proper motion to control adjusting apparatus 300 to controlled The form of sports equipment proceeds a kind of possible implementation optimized and revised, and specifically includes:

When described controlled motion equipment can not maintain proper motion after carrying out described experiment material, determine described predetermined The retractable member of number whether full retraction；If full retraction, then control described adjusting apparatus 300 and described controlled motion is set Standby motion adjusts parts and carries out experiment material, to maintain described controlled motion equipment proper motion, wherein, described controlled motion Equipment includes that the motion of the second predetermined number adjusts parts, and described motion adjusts parts for providing for described controlled motion equipment Power and maintain described controlled motion balance of plant；If non-full retraction, then control described adjusting apparatus 300 to not shrinking Adjustable parts and/or described motion adjust parts and carry out experiment material, to maintain described controlled motion equipment proper motion.

What the present embodiment provided optimizes and revises implementation based on the scheme of embodiment six, and providing in embodiment six can On the basis of collapsible part, in the present embodiment, with reference to the structural representation of the controlled motion equipment shown in Fig. 7, described controlled fortune Dynamic equipment also includes that the motion of the second predetermined number adjusts parts 600, for providing power and dimension for described controlled motion equipment Holding described controlled motion balance of plant, wherein, each described motion adjusts parts 600 and is connected to setting of described controlled motion equipment In standby main body or be connected in corresponding retractable member.

Exemplarily, in the flight equipments such as unmanned plane, the motion of described second predetermined number adjusts parts 600 and specifically may be used With each propeller being mounted on unmanned aerial vehicle body or on corresponding wing, as being installed on the propeller of head, tail, or peace It is loaded on the propeller etc. on main wing, aileron.Put down with propeller subject plane with the propeller of the equipment such as unmanned plane in prior art The relevant position (head, tail, wing) that propeller is installed on unmanned plane by the capable mode in installed surface is different, in the application, Described motion adjust parts 600 can with its be installed on described controlled motion equipment time corresponding installed surface for reference to revolving Turn so that the angle that described motion adjusts between the plane that constituted of article body of parts 600 and described installed surface changes.

Based on this, mainly provide pull strength forward and maintenance machine with the propeller of the equipment such as unmanned plane in prior art The effect of body balance is different, and in the application, the plane that the article body adjusting parts 600 due to described motion is constituted is with described Angle between installed surface can be changed according to demand, is not limited to the constituted plane of propeller main body and installation in prior art The mode that face is opposing parallel, thus, in the application, described motion adjust parts 600 can be embodied as controlled motion equipment provide to On lift, the power in the multiple direction such as pull strength forward, can be that controlled motion equipment provides by its different shape simultaneously The effect maintaining balance in various degree, thus in the application, described retractable member 500, motion adjusts parts 600 all can base It is the effects such as the lift needed for the offer of controlled motion equipment, pull strength, maintenance balance in its corresponding form.

Specifically, if controlled motion equipment can not continue to proper motion, first determine described first predetermined The retractable member of number whether full retraction；If full retraction, then adjust parts from the motion of described second predetermined number Determine that the one or more target travels that need to carry out experiment material adjust parts, and each target travel adjusts the adjustment class of parts Type；And control adjusting apparatus 300 based on adjusting type accordingly, each target travel is adjusted parts and carries out experiment material.Wherein, When the adjustment type that described target travel adjusts parts is four type, adjusts described target travel and adjust the rotating speed of parts, To realize the power of controlled motion equipment is adjusted, supplement power etc. as improved rotating speed；When described target travel adjustment portion When the adjustment type of part is five type, control when described target travel adjusts parts to be installed on described controlled motion equipment pair The installed surface answered is for reference to rotating a respective angles so that described target travel adjusts the plane that the article body of parts is constituted And the angle between described installed surface changes, to realize the rotation by propeller, maintain the balance of controlled motion equipment, Adjust motion adjustment parts by continuation eventually to make the experiment material of controlled motion equipment is optimized, so that controlled fortune Dynamic equipment is able to maintain that proper motion.

It should be noted that each embodiment in this specification all uses the mode gone forward one by one to describe, each embodiment weight Point explanation is all the difference with other embodiments, and between each embodiment, identical similar part sees mutually.

For convenience of description, it is divided into various module or unit to be respectively described with function when describing system above or device. Certainly, the function of each unit can be realized in same or multiple softwares and/or hardware when implementing the application.

As seen through the above description of the embodiments, those skilled in the art it can be understood that to the application can The mode adding required general hardware platform by software realizes.Based on such understanding, the technical scheme essence of the application On the part that in other words prior art contributed can embody with the form of software product, this computer software product Can be stored in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) performs some of each embodiment of the application or embodiment Method described in part.

Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first, second, third and fourth or the like It is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply these Relation or the order of any this reality is there is between entity or operation.And, term " includes ", " comprising " or it is any Other variants are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or equipment Not only include those key elements, but also include other key elements being not expressly set out, or also include for this process, side The key element that method, article or equipment are intrinsic.In the case of there is no more restriction, statement " including ... " limit Key element, it is not excluded that there is also other identical element in including the process of described key element, method, article or equipment.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims

1. an equipment configuration control method, it is characterised in that be applied to controlled motion equipment, described method includes:

Obtain the movable information of described controlled motion equipment；

If described judged result represents meet, then described controlled motion equipment is carried out experiment material, and controls described controlled Sports equipment maintains proper motion.

Method the most according to claim 1, it is characterised in that the movable information bag of described acquisition described controlled motion equipment Include:

Wherein, described movement environment information includes space information and/or the barrier that described controlled motion equipment is to be faced Information, described body dynamics information includes moving height information, velocity information and/or the inclined degree of described controlled motion equipment Information.

Method the most according to claim 1, it is characterised in that described described controlled motion equipment is carried out experiment material bag Include:

Described target component is carried out experiment material.

Method the most according to claim 2, it is characterised in that described described controlled motion equipment is carried out experiment material bag Include:

Based on described movable information, determine the retractable member of described controlled motion equipment needs to carry out one of experiment material or Multiple first object retractable member, and the adjustment type of each first object retractable member；Wherein, described controlled motion sets The standby retractable member including the first predetermined number, described retractable member for for described controlled motion equipment provide power and Maintain described controlled motion balance of plant；

Method the most according to claim 4, it is characterised in that described based on adjusting type accordingly, to each first object Retractable member carries out experiment material and includes:

When the adjustment type of described first object retractable member is the first kind, control described first object retractable member Shrink；

When the adjustment type of described first object retractable member is Second Type, control described first object retractable member Equipment body along described controlled motion equipment moves；

When the adjustment type of described first object retractable member is three type, control described first object retractable member Installed surface corresponding during to be installed on described controlled motion equipment is for rotating a reference plane respective corners clockwise or counterclockwise Degree.

Method the most according to claim 1, it is characterised in that described control described controlled motion equipment maintains proper motion Including:

After judging described controlled motion equipment is carried out described experiment material, whether described controlled motion equipment is able to maintain that normally Motion, obtains a judged result；

Can not maintain if described judged result represents, the most described controlled motion equipment be carried out experiment material, to maintain Described controlled motion equipment proper motion.

Method the most according to claim 4, it is characterised in that described control described controlled motion equipment maintains proper motion Including:

Proper motion can not be maintained, it is determined that described first makes a reservation for if carried out controlled motion equipment described after described experiment material The retractable member of number whether full retraction；

If full retraction, then the motion adjustment parts of described controlled motion equipment are carried out experiment material, be subject to described in maintaining Control sports equipment proper motion；Wherein, described controlled motion equipment includes that the motion of the second predetermined number adjusts parts, described fortune The dynamic parts that adjust are for providing power for described controlled motion equipment and maintaining described controlled motion balance of plant；

If non-full retraction, then the adjustable parts not shunk and/or described motion are adjusted parts and carry out experiment material, with Maintain described controlled motion equipment proper motion.

Method the most according to claim 7, it is characterised in that the described motion to described controlled motion equipment adjusts parts Carry out experiment material to include:

Determine that the one or more target travels that need to carry out experiment material adjust parts, and each target travel adjusts the tune of parts Whole type；

Method the most according to claim 7, it is characterised in that described adjustable parts to not shrinking and/or described fortune Dynamic adjustment parts carry out experiment material and include:

Determine the one or more second target retractable member needing to carry out experiment material in the adjustable parts not shunk, and often The adjustment type of individual second target retractable member；And/or, determine that the one or more target travels that need to carry out experiment material are adjusted Integeral part, and the adjustment type of each target travel adjustment parts；

Based on adjusting type accordingly, described second target retractable member and/or described target travel are adjusted parts and carries out shape State adjusts.

Method the most according to claim 8 or claim 9, it is characterised in that described based on adjusting type accordingly, to target travel Adjustment parts carry out experiment material and include:

When the adjustment type that described target travel adjusts parts is four type, adjusts described target travel and adjust turning of parts Speed；

When the adjustment type that described target travel adjusts parts is five type, controls described target travel and adjust parts with peace It is loaded on installed surface corresponding during described controlled motion equipment for reference to rotating a respective angles so that described target travel adjustment portion Angle between plane that the article body of part is constituted and described installed surface changes.

11. 1 kinds of controlled motion equipment, it is characterised in that including:

Processing means, for judging whether described movable information meets predetermined equipment experiment material condition, obtains a judgement knot Really；

12. controlled motion equipment according to claim 11, it is characterised in that also include that being connected to described controlled motion sets The retractable member of the first predetermined number of standby equipment body, for providing power for described controlled motion equipment and maintaining institute State controlled motion balance of plant；

The most described adjusting apparatus specifically for: based on described movable information, determine the retractable member of described first predetermined number Middle need carry out one or more first object retractable member of experiment material, and the adjustment of each first object retractable member Type；Based on adjusting type accordingly, each described first object retractable member is carried out experiment material.

13. controlled motion equipment according to claim 12, it is characterised in that also include that the motion of the second predetermined number is adjusted Integeral part, the most each motion adjusts parts and is connected to the equipment body of described controlled motion equipment or is connected to can receive accordingly Contracting parts, for providing power for described controlled motion equipment and maintaining described controlled motion balance of plant；

The most described control device specifically for: after carrying out described experiment material, described controlled motion equipment can not maintain normal fortune Time dynamic, determine the retractable member whether full retraction of described predetermined number；If full retraction, then control described adjusting apparatus The motion adjustment parts of described controlled motion equipment are carried out experiment material, to maintain described controlled motion equipment proper motion； If non-full retraction, then control the described adjusting apparatus adjustable parts to not shrinking and/or described motion adjusts parts and enters Row experiment material, to maintain described controlled motion equipment proper motion.